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Comparison of different soft grippers for lunch box packaging
Automating the lunch box packaging is a challenging task due to the high deformability and large individual differences in shape and physical property of food materials. Soft robotic grippers showed potentials to perform such tasks. In this paper, we presented four pneumatic soft actuators made of d...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Springer Berlin Heidelberg
2017
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5668357/ https://www.ncbi.nlm.nih.gov/pubmed/29152451 http://dx.doi.org/10.1186/s40638-017-0067-1 |
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author | Wang, Zhongkui Zhu, Mingzhu Kawamura, Sadao Hirai, Shinichi |
author_facet | Wang, Zhongkui Zhu, Mingzhu Kawamura, Sadao Hirai, Shinichi |
author_sort | Wang, Zhongkui |
collection | PubMed |
description | Automating the lunch box packaging is a challenging task due to the high deformability and large individual differences in shape and physical property of food materials. Soft robotic grippers showed potentials to perform such tasks. In this paper, we presented four pneumatic soft actuators made of different materials and different fabrication methods and compared their performances through a series of tests. We found that the actuators fabricated by 3D printing showed better linearity and less individual differences, but showed low durability compared to actuators fabricated by traditional casting process. Robotic grippers were assembled using the soft actuators, and grasping tests were performed on soft paper containers filled with food materials. Results suggested that grippers with softer actuators required lower air pressure to lift up the same weight and generated less deformation on the soft container. The actuator made of casting process with Dragon Skin 10 material lifted the most weight among different actuators. |
format | Online Article Text |
id | pubmed-5668357 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2017 |
publisher | Springer Berlin Heidelberg |
record_format | MEDLINE/PubMed |
spelling | pubmed-56683572017-11-16 Comparison of different soft grippers for lunch box packaging Wang, Zhongkui Zhu, Mingzhu Kawamura, Sadao Hirai, Shinichi Robotics Biomim Research Automating the lunch box packaging is a challenging task due to the high deformability and large individual differences in shape and physical property of food materials. Soft robotic grippers showed potentials to perform such tasks. In this paper, we presented four pneumatic soft actuators made of different materials and different fabrication methods and compared their performances through a series of tests. We found that the actuators fabricated by 3D printing showed better linearity and less individual differences, but showed low durability compared to actuators fabricated by traditional casting process. Robotic grippers were assembled using the soft actuators, and grasping tests were performed on soft paper containers filled with food materials. Results suggested that grippers with softer actuators required lower air pressure to lift up the same weight and generated less deformation on the soft container. The actuator made of casting process with Dragon Skin 10 material lifted the most weight among different actuators. Springer Berlin Heidelberg 2017-11-02 2017 /pmc/articles/PMC5668357/ /pubmed/29152451 http://dx.doi.org/10.1186/s40638-017-0067-1 Text en © The Author(s) 2017 Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. |
spellingShingle | Research Wang, Zhongkui Zhu, Mingzhu Kawamura, Sadao Hirai, Shinichi Comparison of different soft grippers for lunch box packaging |
title | Comparison of different soft grippers for lunch box packaging |
title_full | Comparison of different soft grippers for lunch box packaging |
title_fullStr | Comparison of different soft grippers for lunch box packaging |
title_full_unstemmed | Comparison of different soft grippers for lunch box packaging |
title_short | Comparison of different soft grippers for lunch box packaging |
title_sort | comparison of different soft grippers for lunch box packaging |
topic | Research |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5668357/ https://www.ncbi.nlm.nih.gov/pubmed/29152451 http://dx.doi.org/10.1186/s40638-017-0067-1 |
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